Department of Control Science and Engineering, Jilin University, Changchun, 130022, China.
State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130022, China.
Sci Rep. 2023 Jun 27;13(1):10396. doi: 10.1038/s41598-023-36898-4.
Control of vehicle platoon can effectively reduce the traffic accidents caused by fatigue driving and misoperation, reduce air resistance by eliminating the inter-vehicle gap which will effectively reduce fuel consumption and exhaust emissions. A hierarchical control scheme for vehicle platoons is proposed in this paper. Considering safety, consistency, and passengers' comfort, a synchronous distributed model predictive controller is designed as an upper-level controller, in which a constraint guaranteeing string stability is introduced into the involved local optimization problem so as to guarantee that the inter-vehicle gap error gradually attenuates as it propagates downstream. A terminal equality constraint is added to guarantee asymptotic consensus of vehicle platoons. By constructing the vehicle inverse longitudinal dynamics model, a lower-level control scheme with feedforward and feedback controllers is designed to adjust the throttle angle and brake pressure of vehicles. A PID is used as the feedback controller to eliminate the influence of unmodeled dynamics and uncertainties. Finally, the performance of longitudinal tracking with the proposed control scheme is validated by joint simulations with PreScan, CarSim, and Simulink.
车辆队列控制可以有效减少因疲劳驾驶和误操作而导致的交通事故，通过消除车辆间的间隙来有效降低空气阻力，从而降低燃料消耗和尾气排放。本文提出了一种车辆队列的分层控制方案。考虑到安全性、一致性和乘客舒适性，设计了一个同步分布式模型预测控制器作为上层控制器，在其中引入了一个保证串级稳定性的约束条件，以保证车辆间的间隙误差在下游传播时逐渐衰减。添加了一个终端等式约束条件，以保证车辆队列的渐近一致性。通过构建车辆逆纵向动力学模型，设计了一个具有前馈和反馈控制器的下层控制方案，以调整车辆的节气门角度和制动压力。使用 PID 作为反馈控制器来消除未建模动态和不确定性的影响。最后，通过与 PreScan、CarSim 和 Simulink 的联合仿真验证了所提出的控制方案的纵向跟踪性能。
